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Efficient Path Planning and Following for Non-holonomic Robot

Published: 12 October 2018 Publication History

Abstract

Embedded robotic control usually faces the dilemma of low computing-power or strict real-time performance requirement. The processing speed of microprocessor is highly constrained from the clock cycle and architectures of data path, compiler, and algorithms. In this paper, we propose an efficient algorithm to resolve difficulties in the common form of Reeds-Shepp turning curves, which can be deployed for non-holonomic robot path planning and following. The salience of our algorithm is on removing the need for the use of trigonometric, logarithm, and sophisticated matrix functions. The robot's turning schemes can then be easily implemented on a microprocessor or field-programmable-gate-array (FPGA) chip with minimum computing effort. The proposed algorithm is promising for miniature robot maneuvering controls in the future.

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  1. Efficient Path Planning and Following for Non-holonomic Robot

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    ICCMA 2018: Proceedings of the 6th International Conference on Control, Mechatronics and Automation
    October 2018
    198 pages
    ISBN:9781450365635
    DOI:10.1145/3284516
    © 2018 Association for Computing Machinery. ACM acknowledges that this contribution was authored or co-authored by an employee, contractor or affiliate of a national government. As such, the Government retains a nonexclusive, royalty-free right to publish or reproduce this article, or to allow others to do so, for Government purposes only.

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    • SFedU: Southern Federal University
    • University of Alberta: University of Alberta

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    Published: 12 October 2018

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    Author Tags

    1. Embedded System
    2. Non-holonomic Robot
    3. Path Planning and Following
    4. RMCP
    5. SBALA
    6. Turning Curves

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